针对外部持续扰动下的线性时滞系统，提出一种前馈-反馈最优控制的逐次逼近算法。

A successive approximation algorithm of feedforward and feedback optimal control for linear systems with state time-delay affected by persistent disturbances is presented.

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因此本文根据机器人动力学模型的性质设计了一种利用机器人工作空间理想轨迹控制的自适应前馈控制方法，并对自适应控制下系统的稳定性进行了分析。

So an adaptive feed forward control method is proposed, this method basing on robot dynamics adopts ideal trajectory on workspace to control robot, its stability is analyzed.

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